#include "ShooterAngleHome.h"

ShooterAngleHome::ShooterAngleHome() {
	// Use requires() here to declare subsystem dependencies
	// eg. requires(chassis);
	Requires(shooterAngle);
}

// Called just before this Command runs the first time
void ShooterAngleHome::Initialize() {
	
}

// Called repeatedly when this Command is scheduled to run
void ShooterAngleHome::Execute() {
	shooterAngle->SetSetpoint(shooterAngle->ShooterHome);
	shooterAngle->Enable();
}

// Make this return true when this Command no longer needs to run execute()
bool ShooterAngleHome::IsFinished() {
	return shooterAngle->OnTarget();
}

// Called once after isFinished returns true
void ShooterAngleHome::End() {
	shooterAngle->Disable();	
}

// Called when another command which requires one or more of the same
// subsystems is scheduled to run
void ShooterAngleHome::Interrupted() {
	shooterAngle->Disable();
}
